If you have some basic tools installed (git, compiler and cmake) clone this repo:

git clone https://github.com/MattiaMontanari/openGJK.git

followed by these commands:

cmake -E make_directory build
cmake -E chdir build cmake -DCMAKE_BUILD_TYPE=Release .. 
cmake --build build 
cmake -E chdir build/examples/c ./example_lib_opengjk_ce

If you get no errors, the successfull output is:

Distance between bodies 3.653650.

However, if you do get an error - any error - please file a bug! Support requests are welcome too.

With the commands above you have built a demo example tha invokes the openGJK library. The library is statically linked and the distance between two bodies is computed and returned.

To learn how to use this library in your project the best place to start is the demo. Look at main.c and the other examples. In examples/c/CMakeLists.txt you can find how simple is to link using CMake.